Methods, devices and monitoring systems for controlling coal flow

Abstract

This application provides a coal flow control method, device, and coal flow monitoring system. The method includes: receiving three-dimensional coal flow point cloud data sent by a 3D camera, and processing the three-dimensional coal flow point cloud data based on three-dimensional spatial reconstruction technology to obtain coal flow spatial data; performing integral processing on the coal flow spatial data in the time domain to obtain the coal flow rate per unit time, and processing the coal flow spatial data using a large coal identification model to obtain the large coal grade; determining the load level of the scraper conveyor based on the large coal grade and the coal flow rate range within the unit time; and adjusting the conveying speed of the scraper conveyor to the speed corresponding to the load level. This improves the accuracy of coal flow monitoring and solves the problem of low accuracy in existing coal flow monitoring methods.

Description

Technical Field

[0001] This application relates to the field of coal mine transportation technology, and more specifically, to a coal flow control method, apparatus, computer-readable storage medium, and coal flow monitoring system. Background Technology

[0002] Currently, scraper conveyors are frequently used to transport coal flow. Most existing solutions monitor coal quantity through manual observation or weighing. Manual observation can monitor coal quantity, large pieces of coal, and belt misalignment, but it is subject to subjective influence and has a large human error. Weighing methods use electronic scales, and the coal quantity measurement results are easily affected by vibration, belt speed, and other factors. In addition, some methods use images to identify coal flow, but unfortunately, two-dimensional images are difficult to accurately reflect the spatial volume of coal flow. They can only obtain the amount of coal flow from a sensory perspective, but cannot obtain a specific coal flow value.

[0003] This means that the existing methods for monitoring coal flow have low accuracy. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, computer-readable storage medium, and coal flow monitoring system for controlling coal flow, so as to at least solve the problem of low accuracy in existing coal flow monitoring solutions.

[0005] To achieve the above objectives, according to one aspect of this application, a coal flow control method is provided, applied to a controller in a coal flow monitoring system. The coal flow monitoring system further includes multiple 3D cameras and a scraper conveyor. The scraper conveyor and the multiple 3D cameras communicate with the controller. The multiple 3D cameras are sequentially and equidistantly positioned above the scraper conveyor along the direction in which coal blocks are transported. The method includes: receiving three-dimensional coal flow point cloud data sent by the 3D cameras, and processing the three-dimensional coal flow point cloud data based on three-dimensional spatial reconstruction technology to obtain coal flow spatial data. The three-dimensional coal flow point cloud data is the three-dimensional point cloud data of the coal flow collected by the 3D cameras at the current moment, and the coal flow spatial data is the 3D stereoscopic data of the coal flow at the current moment; integrating the coal flow spatial data in the time domain to obtain the coal flow rate per unit time, and then... The coal flow spatial data is processed using a large coal identification model to obtain a large coal grade. The coal flow rate per unit time is the flow rate of the coal lump per unit time. The large coal grade is one of several preset large coal grades, which characterize the size of the large coal lump. The large coal identification model is trained using multiple sets of training data. Each set of training data includes: the coal flow spatial data and the corresponding preset large coal grade acquired within a historical time period. Based on the large coal grade and the coal flow range in which the coal flow rate per unit time is located, the load level of the scraper conveyor is determined. The load level is one of several preset load levels, which characterize the load capacity of the scraper conveyor. Based on the load level, the conveying speed of the scraper conveyor is adjusted to the speed corresponding to the load level.

[0006] Optionally, the plurality of pre-set large coal lump grades are respectively a first pre-set large coal lump grade, a second pre-set large coal lump grade, a third pre-set large coal lump grade, and a fourth pre-set large coal lump grade, with the size of the large coal lump increasing sequentially. Similarly, the plurality of pre-set load grades are respectively a first pre-set load grade, a second pre-set load grade, a third pre-set load grade, and a fourth pre-set load grade, with the load of the scraper conveyor increasing sequentially. The load grade of the scraper conveyor is determined based on the large coal lump grade and the coal flow rate range within which the unit time coal flow rate falls, including at least one of the following: when the large coal lump grade is the first pre-set large coal lump grade and the unit time coal flow rate is less than a first coal flow rate threshold, the load grade of the scraper conveyor is determined to be the first pre-set load grade; when the large coal lump grade is the second pre-set large coal lump grade and the unit time coal flow rate is less than a first coal flow rate threshold, the load grade of the scraper conveyor is determined to be the first pre-set load grade; when the large coal lump grade is the second pre-set large coal lump grade and the unit time coal flow rate is less than a first coal flow rate threshold, the load grade of the scraper conveyor is determined to be the second pre-set large coal lump grade. When the coal flow rate over time is greater than or equal to the first coal flow rate threshold, and the coal flow rate per unit time is less than the second coal flow rate threshold, the load level of the scraper conveyor is determined to be the second preset load level, and the second coal flow rate threshold is greater than the first coal flow rate threshold; when the lump coal grade is the third preset lump coal grade, and the coal flow rate per unit time is greater than or equal to the second coal flow rate threshold, and the coal flow rate per unit time is less than the third coal flow rate threshold, the load level of the scraper conveyor is determined to be the third preset load level, and the third coal flow rate threshold is greater than the second coal flow rate threshold; when the lump coal grade is the fourth preset lump coal grade, and the coal flow rate per unit time is greater than or equal to the third coal flow rate threshold, the load level of the scraper conveyor is determined to be the fourth preset load level.

[0007] Optionally, the plurality of load preset levels are respectively a first load preset level, a second load preset level, a third load preset level, and a fourth load preset level, with the load degree of the scraper conveyor increasing sequentially. Adjusting the conveying speed of the scraper conveyor to a speed corresponding to the load level according to the load level includes: when the load level of the scraper conveyor is determined to be the first load preset level, adjusting the conveying speed of the scraper conveyor to a first preset conveying speed; when the load level of the scraper conveyor is determined to be the second load preset level, adjusting the scraper... The conveyor's transport speed is adjusted to a second preset transport speed, which is greater than the first preset transport speed; when the load capacity of the scraper conveyor is determined to be the third preset load capacity, the transport speed of the scraper conveyor is adjusted to the third preset transport speed, which is greater than the second preset transport speed; when the load capacity of the scraper conveyor is determined to be the fourth preset load capacity, the transport speed of the scraper conveyor is adjusted to the fourth preset transport speed, which is greater than the third preset transport speed.

[0008] Optionally, after determining that the load level of the scraper conveyor is the third preset load level, the method further includes: generating a first alarm message, the first alarm message being used to remind the staff to control the scraper conveyor to stop.

[0009] Optionally, the method further includes: when the coal lump grade is the third or fourth preset coal lump grade, determining whether the coal block corresponding to the coal lump grade passes through a 3D camera adjacent to the 3D camera transmitting the three-dimensional coal flow point cloud data within a preset time; if the coal block corresponding to the coal lump grade passes through the 3D camera adjacent to the 3D camera transmitting the three-dimensional coal flow point cloud data within the preset time, determining the coal flow state as normal; if the coal block corresponding to the coal lump grade does not pass through the 3D camera adjacent to the 3D camera transmitting the three-dimensional coal flow point cloud data within the preset time, determining the coal flow state as abnormal, wherein the abnormal state is used to characterize that the coal block rolls, falls, or gets stuck.

[0010] Optionally, after determining that the coal flow status is abnormal, the method further includes: generating a second alarm message, which is used to remind the staff that the coal block corresponding to the large coal grade has rolled, fallen, or jammed.

[0011] Optionally, receiving the three-dimensional coal flow point cloud data sent by the 3D camera includes: receiving the three-dimensional coal flow point cloud data sent by the 3D camera via a 5G network.

[0012] According to another aspect of this application, a coal flow control device is provided. The device includes a receiving unit, a first processing unit, a determining unit, and a second processing unit. The receiving unit receives three-dimensional coal flow point cloud data sent by a 3D camera and processes the three-dimensional coal flow point cloud data based on three-dimensional spatial reconstruction technology to obtain coal flow spatial data. The three-dimensional coal flow point cloud data is the three-dimensional point cloud data of the coal flow collected by the 3D camera at the current moment, and the coal flow spatial data is the 3D stereoscopic data of the coal flow at the current moment. The first processing unit performs integral processing on the coal flow spatial data in the time domain to obtain the coal flow rate per unit time, and processes the coal flow spatial data using a large coal identification model to obtain the large coal grade. The coal flow rate per unit time is the flow rate of coal blocks per unit time. The large coal grade is one of multiple preset large coal grades, which characterize the size of the large coal pieces. The large coal identification model is trained using multiple sets of training data. Each set of training data includes: the coal flow spatial data and the preset large coal grade corresponding to the coal flow spatial data, acquired within a historical time period. The determining unit is used to determine the load level of the scraper conveyor based on the large coal grade and the coal flow interval within the unit time coal flow. The load level is one of multiple preset load levels, which characterize the load degree of the scraper conveyor. The second processing unit is used to adjust the transport speed of the scraper conveyor to the speed corresponding to the load level based on the load level.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the coal flow control methods described above.

[0014] According to another aspect of this application, a coal flow monitoring system is provided, the system comprising a controller, a plurality of 3D cameras and a scraper conveyor, the scraper conveyor and the plurality of 3D cameras being electrically connected to the controller respectively, the plurality of 3D cameras being arranged sequentially at equal intervals above the scraper conveyor along the direction in which the scraper conveyor transports coal blocks, and the controller being used to execute any of the coal flow control methods described herein.

[0015] By applying the technical solution of this application, the size grade of large coal pieces and the coal flow rate per unit time are determined by the coal flow spatial data. Based on the size grade of large coal pieces and the coal flow rate per unit time, the load level of the scraper conveyor is determined simultaneously. Finally, the conveying speed of the scraper conveyor is adjusted according to the load level, thereby improving the accuracy of coal flow monitoring and solving the problem of low accuracy in existing coal flow monitoring solutions. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A hardware structure block diagram of a mobile terminal for executing a coal flow control method according to an embodiment of this application is shown;

[0018] Figure 2 A schematic flowchart of a coal flow control method according to an embodiment of this application is shown;

[0019] Figure 3 A flowchart illustrating another method for controlling coal flow is shown.

[0020] Figure 4 A structural block diagram of a coal flow control device according to an embodiment of this application is shown. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] As described in the background section, scraper conveyors are currently commonly used to transport coal flows. Existing solutions mostly monitor coal quantity through manual observation or weighing. While manual observation can detect coal quantity, large pieces of coal, and belt misalignment, it is subject to significant human error due to subjective factors. Weighing methods, using electronic scales, are easily affected by vibrations and belt speed. Other methods use images to identify coal flow, but two-dimensional images struggle to accurately reflect the spatial volume of the coal flow, providing only a sensory assessment of the flow rate rather than a specific numerical value. In short, existing solutions have low accuracy in monitoring coal flow. To address this issue, embodiments of this application provide a coal flow control method, apparatus, computer-readable storage medium, and coal flow monitoring system.

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0026] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a coal flow control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0027] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the coal flow control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0028] This embodiment provides a method for controlling coal flow that operates on a mobile terminal, computer terminal, or similar computing device. The method is applied to a controller in a coal flow monitoring system. The coal flow monitoring system also includes multiple 3D cameras and a scraper conveyor. The scraper conveyor and the multiple 3D cameras communicate with the controller. The multiple 3D cameras are arranged equidistantly above the scraper conveyor along the direction in which the scraper conveyor transports coal blocks. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0029] Figure 2 This is a schematic flowchart of a coal flow control method according to an embodiment of this application. Figure 2 As shown, the method includes the following steps:

[0030] Step S201: Receive the three-dimensional coal flow point cloud data sent by the 3D camera, and process the three-dimensional coal flow point cloud data based on the three-dimensional spatial reconstruction technology to obtain coal flow spatial data. The three-dimensional coal flow point cloud data is the three-dimensional point cloud data of the coal flow collected by the 3D camera at the current moment, and the coal flow spatial data is the 3D stereoscopic data of the coal flow at the current moment.

[0031] Specifically, the three-dimensional coal flow point cloud data sent by the 3D camera is received through the 5G network. The signal data is transmitted to the edge computing server through the 5G communication system. The edge computing server can obtain the coal flow spatial data at any time through three-dimensional spatial reconstruction technology. The three-dimensional coal flow point cloud data can be converted into 3D stereo data, i.e. coal flow spatial data, through three-dimensional spatial reconstruction technology, so that the state of coal flow can be seen intuitively.

[0032] Step S202: Integrate the above coal flow spatial data in the time domain to obtain the coal flow rate per unit time, and use the large coal identification model to process the above coal flow spatial data to obtain the large coal grade. The above coal flow rate per unit time is the flow rate of the above coal block in a unit time. The above large coal grade is one of multiple preset large coal grades. The above preset large coal grade is used to characterize the size of the large coal block. The above large coal identification model is trained using multiple sets of training data. Each set of training data includes the above coal flow spatial data and the above preset large coal grade corresponding to the above coal flow spatial data, which were obtained within a historical time period.

[0033] Specifically, the coal flow rate per unit time can be obtained in real time through time integration, and the status of large coal pieces can be judged in real time through the large coal piece identification model. The coal flow rate per unit time can indicate the current conveying speed of the scraper conveyor. The coal flow spatial data is used as the input of the large coal piece identification model so that the large coal piece identification model can process the large coal piece identification model and output the large coal piece grade. The large coal piece grade can reflect the grade of the large coal pieces in the current coal flow. Large coal pieces are coal blocks weighing more than 10 kilograms. Since large coal pieces are on the scraper conveyor for a long time, they will cause damage to the scraper conveyor. Therefore, it is necessary to remove the large coal pieces as soon as possible.

[0034] Step S203: Based on the above-mentioned large coal grade and the coal flow range of the above-mentioned unit time coal flow, determine the load level of the above-mentioned scraper conveyor. The load level is one of multiple preset load levels. The preset load level is used to characterize the load degree of the above-mentioned scraper conveyor.

[0035] Specifically, by setting different load levels, the load level of the scraper conveyor at the current moment can be seen intuitively, which makes it easier to adjust the conveying speed of the scraper conveyor in the future so that large pieces of coal can be transported away as soon as possible, thereby reducing the load level of the scraper conveyor.

[0036] Among them, the aforementioned large coal lump preset grades are respectively the first, second, third, and fourth large coal lump preset grades, which are sequentially increasing in size; and the aforementioned load preset grades are respectively the first, second, third, and fourth load preset grades, which are sequentially increasing in load capacity of the aforementioned scraper conveyor.

[0037] Step S203, namely, determining the load rating of the scraper conveyor based on the aforementioned large coal grade and the coal flow rate range within the aforementioned unit time coal flow rate, including at least one of the following:

[0038] When the above-mentioned large coal grade is the above-mentioned first large coal preset grade, and the above-mentioned coal flow rate per unit time is less than the first coal flow rate threshold, the above-mentioned load grade of the scraper conveyor is determined to be the above-mentioned first load preset grade.

[0039] When the above-mentioned large coal grade is the above-mentioned second large coal preset grade, and the above-mentioned coal flow rate per unit time is greater than or equal to the above-mentioned first coal flow rate threshold, and the above-mentioned coal flow rate per unit time is less than the second coal flow rate threshold, the above-mentioned load grade of the above-mentioned scraper conveyor is determined to be the above-mentioned second load preset grade, and the above-mentioned second coal flow rate threshold is greater than the above-mentioned first coal flow rate threshold.

[0040] When the above-mentioned large coal grade is the above-mentioned third large coal preset grade, and the above-mentioned coal flow rate per unit time is greater than or equal to the above-mentioned second coal flow rate threshold, and the above-mentioned coal flow rate per unit time is less than the third coal flow rate threshold, the above-mentioned load grade of the above-mentioned scraper conveyor is determined to be the above-mentioned third load preset grade, and the above-mentioned third coal flow rate threshold is greater than the above-mentioned second coal flow rate threshold.

[0041] When the above-mentioned large coal grade is the above-mentioned fourth large coal preset grade, and the above-mentioned coal flow rate per unit time is greater than or equal to the above-mentioned third coal flow rate threshold, the above-mentioned load grade of the above-mentioned scraper conveyor is determined to be the above-mentioned fourth load preset grade.

[0042] Specifically, when the coal lump grade is the first preset grade and the coal flow rate per unit time is less than the first coal flow rate threshold, the load on the scraper conveyor is close to being unloaded. When the coal lump grade is the second preset grade and the coal flow rate per unit time is greater than or equal to the first coal flow rate threshold, the load on the scraper conveyor is close to being moderate. When the coal lump grade is the third preset grade and the coal flow rate per unit time is greater than or equal to the second coal flow rate threshold but less than the third coal flow rate threshold, the load on the scraper conveyor is more than moderate but still far from being fully loaded. When the coal lump grade is the fourth preset grade and the coal flow rate per unit time is greater than or equal to the third coal flow rate threshold, the load on the scraper conveyor is close to being fully loaded. Therefore, it can be seen that the larger the coal lump, the lower the transport speed, and thus the transport speed needs to be increased to transport the coal lump away as quickly as possible.

[0043] Step S204: Based on the aforementioned load level, adjust the conveying speed of the scraper conveyor to a speed corresponding to the aforementioned load level.

[0044] Through the above embodiments, the size grade of large coal pieces and the coal flow rate per unit time are determined by the coal flow spatial data. Based on the size grade of large coal pieces and the coal flow rate per unit time, the load level of the scraper conveyor is determined simultaneously. Finally, the conveying speed of the scraper conveyor is adjusted according to the load level, thereby improving the accuracy of coal flow monitoring and solving the problem of low accuracy in existing coal flow monitoring solutions.

[0045] The aforementioned load preset levels are, respectively, the first load preset level, the second load preset level, the third load preset level, and the fourth load preset level, which represent the load levels of the scraper conveyor in sequentially increasing order.

[0046] Step S204, namely, adjusting the conveying speed of the scraper conveyor to a speed corresponding to the load level, includes:

[0047] When the load capacity of the scraper conveyor is determined to be the first preset load capacity, the transport speed of the scraper conveyor is adjusted to the first preset transport speed.

[0048] When the load capacity of the scraper conveyor is determined to be the second preset load capacity, the transport speed of the scraper conveyor is adjusted to the second preset transport speed, which is greater than the first preset transport speed.

[0049] When the load capacity of the scraper conveyor is determined to be the third preset load capacity, the transport speed of the scraper conveyor is adjusted to the third preset transport speed, which is greater than the second preset transport speed.

[0050] When the load capacity of the scraper conveyor is determined to be the fourth preset load capacity, the conveying speed of the scraper conveyor is adjusted to the fourth preset conveying speed, which is greater than the third preset conveying speed.

[0051] Specifically, if the load level of the scraper conveyor is determined to be the first preset load level, it means that the load level of the scraper conveyor is close to the empty load level. The coal flow can be controlled by the minimum value among the four preset transport speeds. If the load level of the scraper conveyor is determined to be the second preset load level, it means that the load level of the scraper conveyor is close to the moderate load level. In order to avoid subsequent coal accumulation, the transport speed of the scraper conveyor should be increased. If the load level of the scraper conveyor is determined to be the third preset load level, the load level of the scraper conveyor is more than moderate but still far from the full load level. The transport speed needs to be increased more than the second preset load level. If the load level of the scraper conveyor is determined to be the fourth preset load level, it means that the load level of the scraper conveyor is close to the full load level. The maximum value among the four preset transport speeds needs to be used to get large pieces of coal off the scraper conveyor as quickly as possible.

[0052] In some embodiments of this application, after determining that the load level of the scraper conveyor is the third preset load level, the method further includes: generating a first alarm message, which is used to remind the operator to stop the scraper conveyor. The third load level indicates that the coal chunks on the scraper conveyor will soon cause it to reach full load, therefore it is necessary to stop the conveyor to check its operation and prevent large coal chunks from collapsing it.

[0053] In some embodiments of this application, the method further includes: when the coal block grade is the third or fourth preset coal block grade, determining whether the coal block corresponding to the coal block grade passes through the 3D camera adjacent to the 3D camera that sends the three-dimensional coal flow point cloud data within a preset time; if the coal block corresponding to the coal block grade passes through the 3D camera adjacent to the 3D camera that sends the three-dimensional coal flow point cloud data within a preset time, determining the coal flow state as normal; if the coal block corresponding to the coal block grade does not pass through the 3D camera adjacent to the 3D camera that sends the three-dimensional coal flow point cloud data within a preset time, determining the coal flow state as abnormal, wherein the abnormal state is used to characterize the coal block rolling, falling, or getting stuck.

[0054] Specifically, for example, if 3D cameras A and B are adjacent and the transport direction is from 3D camera A to 3D camera B, if a large piece of coal has reached the area below 3D camera B from 3D camera A within a preset time, it means that the large piece of coal has not rolled, fallen, or jammed, and the coal flow is considered to be in a normal state. If a large piece of coal has not reached the area below 3D camera B from 3D camera A within a preset time, it means that the large piece of coal has rolled, fallen, or jammed, and the coal flow is considered to be in an abnormal state. This allows for a quick determination of whether the coal flow is normal and avoids excessive large pieces of coal damaging the scraper conveyor.

[0055] In some embodiments of this application, after determining that the coal flow state is abnormal, the above method further includes: generating a second alarm message, which is used to remind the staff that the coal block corresponding to the above-mentioned large coal grade has rolled, fallen, or jammed. For example, if 3D cameras A and B are adjacent and the transport direction is from 3D camera A to 3D camera B, in order to detect as early as possible whether large pieces of coal have rolled, fallen, or jammed, it is necessary to check whether the large pieces of coal have reached the area below 3D camera B from 3D camera A within a preset time. If the large pieces of coal have reached the area below 3D camera B from 3D camera A within the preset time, it means that the large pieces of coal have not rolled, fallen, or jammed. If the large pieces of coal have not reached the area below 3D camera B from 3D camera A within the preset time, it means that the large pieces of coal have rolled, fallen, or jammed, and a second alarm message needs to be generated to remind the staff that the coal block corresponding to the above-mentioned large coal block grade has rolled, fallen, or jammed, and the scraper conveyor needs to be stopped.

[0056] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the coal flow control method of this application will be described in detail below with reference to specific embodiments.

[0057] This embodiment relates to a specific method for controlling coal flow, such as... Figure 3 As shown, it includes the following steps:

[0058] Step S1: Receive the three-dimensional coal flow point cloud data sent by the 3D camera through the 5G network, and process the three-dimensional coal flow point cloud data based on the three-dimensional spatial reconstruction technology to obtain coal flow spatial data. The three-dimensional coal flow point cloud data is the three-dimensional point cloud data of the coal flow collected by the 3D camera at the current moment, and the coal flow spatial data is the 3D stereoscopic data of the coal flow at the current moment.

[0059] Step S2: Integrate the above coal flow spatial data in the time domain to obtain the coal flow rate per unit time, and use the large coal identification model to process the above coal flow spatial data to obtain the large coal grade. The above coal flow rate per unit time is the flow rate of the above coal block in a unit time. The above large coal grade is one of multiple preset large coal grades. The above preset large coal grade is used to characterize the size of the large coal block. The above large coal identification model is trained using multiple sets of training data. Each set of training data includes the above coal flow spatial data and the above preset large coal grade corresponding to the above coal flow spatial data, which were obtained within a historical time period.

[0060] Step S3: Based on the above-mentioned large coal grade and the coal flow range of the above-mentioned unit time coal flow, determine the load level of the above-mentioned scraper conveyor. The load level is one of multiple preset load levels. The preset load level is used to characterize the load degree of the above-mentioned scraper conveyor.

[0061] Among them, the aforementioned large coal lump preset grades are respectively the first, second, third, and fourth large coal lump preset grades, which are sequentially increasing in size; and the aforementioned load preset grades are respectively the first, second, third, and fourth load preset grades, which are sequentially increasing in load capacity of the aforementioned scraper conveyor.

[0062] When the above-mentioned large coal grade is the above-mentioned first large coal preset grade, and the above-mentioned coal flow rate per unit time is less than the first coal flow rate threshold, the above-mentioned load grade of the scraper conveyor is determined to be the above-mentioned first load preset grade.

[0063] When the above-mentioned large coal grade is the above-mentioned second large coal preset grade, and the above-mentioned coal flow rate per unit time is greater than or equal to the above-mentioned first coal flow rate threshold, and the above-mentioned coal flow rate per unit time is less than the second coal flow rate threshold, the above-mentioned load grade of the above-mentioned scraper conveyor is determined to be the above-mentioned second load preset grade, and the above-mentioned second coal flow rate threshold is greater than the above-mentioned first coal flow rate threshold.

[0064] When the above-mentioned large coal grade is the above-mentioned third large coal preset grade, and the above-mentioned coal flow rate per unit time is greater than or equal to the above-mentioned second coal flow rate threshold, and the above-mentioned coal flow rate per unit time is less than the third coal flow rate threshold, the above-mentioned load grade of the above-mentioned scraper conveyor is determined to be the above-mentioned third load preset grade, and the above-mentioned third coal flow rate threshold is greater than the above-mentioned second coal flow rate threshold.

[0065] When the above-mentioned large coal grade is the above-mentioned fourth large coal preset grade, and the above-mentioned coal flow rate per unit time is greater than or equal to the above-mentioned third coal flow rate threshold, the above-mentioned load grade of the above-mentioned scraper conveyor is determined to be the above-mentioned fourth load preset grade.

[0066] The aforementioned load preset levels are, respectively, the first load preset level, the second load preset level, the third load preset level, and the fourth load preset level, which represent the load levels of the scraper conveyor in sequentially increasing order.

[0067] Step S4: If the load capacity of the scraper conveyor is determined to be the first preset load capacity, the conveying speed of the scraper conveyor is adjusted to the first preset conveying speed; if the load capacity of the scraper conveyor is determined to be the second preset load capacity, the conveying speed of the scraper conveyor is adjusted to the second preset conveying speed, which is greater than the first preset conveying speed; if the load capacity of the scraper conveyor is determined to be the third preset load capacity, the conveying speed of the scraper conveyor is adjusted to the third preset conveying speed, which is greater than the second preset conveying speed; if the load capacity of the scraper conveyor is determined to be the fourth preset load capacity, the conveying speed of the scraper conveyor is adjusted to the fourth preset conveying speed, which is greater than the third preset conveying speed.

[0068] Step S5: If the above-mentioned large coal grade is the third or fourth preset grade of large coal, determine whether the coal block corresponding to the above-mentioned large coal grade passes through the 3D camera adjacent to the 3D camera that sends the above-mentioned three-dimensional coal flow point cloud data within a preset time; if the coal block corresponding to the above-mentioned large coal grade passes through the 3D camera adjacent to the 3D camera that sends the above-mentioned three-dimensional coal flow point cloud data within a preset time, determine that the coal flow state is normal; if the coal block corresponding to the above-mentioned large coal grade does not pass through the 3D camera adjacent to the 3D camera that sends the above-mentioned three-dimensional coal flow point cloud data within a preset time, determine that the coal flow state is abnormal. The above-mentioned abnormal state is used to indicate that the coal block rolls, falls, or gets stuck.

[0069] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0070] This application also provides a coal flow control device. It should be noted that the coal flow control device of this application can be used to execute the coal flow control method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0071] The following describes the coal flow control device provided in the embodiments of this application.

[0072] Figure 4 This is a structural block diagram of a coal flow control device according to an embodiment of this application. Figure 4As shown, the device includes a receiving unit 41, a first processing unit 42, a determining unit 43, and a second processing unit 44. The receiving unit 41 receives three-dimensional coal flow point cloud data sent by a 3D camera and processes the three-dimensional coal flow point cloud data based on three-dimensional spatial reconstruction technology to obtain coal flow spatial data. The three-dimensional coal flow point cloud data is the three-dimensional point cloud data of the coal flow collected by the 3D camera at the current moment, and the coal flow spatial data is the 3D stereoscopic data of the coal flow at the current moment. The first processing unit 42 performs integral processing on the coal flow spatial data in the time domain to obtain the coal flow rate per unit time, and processes the coal flow spatial data using a large coal identification model to obtain the large coal grade. The coal flow rate per unit time is the flow rate of coal blocks per unit time. The grade is one of several preset grades for large coal pieces. The preset grades for large coal pieces are used to characterize the size of the large coal pieces. The large coal identification model is trained using multiple sets of training data. Each set of training data includes the coal flow spatial data and the preset grades for large coal pieces corresponding to the coal flow spatial data acquired within a historical time period. The determining unit 43 is used to determine the load grade of the scraper conveyor based on the large coal grade and the coal flow interval within the unit time coal flow. The load grade is one of several preset load grades and is used to characterize the load degree of the scraper conveyor. The second processing unit 44 is used to adjust the transport speed of the scraper conveyor to the speed corresponding to the load grade based on the load grade.

[0073] In the aforementioned device, the size grade of large coal pieces and the coal flow rate per unit time are determined by the spatial data of the coal flow. Based on the size grade of the large coal pieces and the coal flow rate per unit time, the load level of the scraper conveyor is determined simultaneously. Finally, the conveying speed of the scraper conveyor is adjusted according to the load level, thereby improving the accuracy of coal flow monitoring and solving the problem of low accuracy in existing coal flow monitoring schemes.

[0074] In some embodiments of this application, the plurality of pre-set grades of large coal pieces are respectively a first pre-set grade of large coal pieces, a second pre-set grade of large coal pieces, a third pre-set grade of large coal pieces, and a fourth pre-set grade of large coal pieces, with the size of the coal pieces increasing sequentially. The plurality of pre-set load grades are respectively a first pre-set load grade of large load on the scraper conveyor, a second pre-set load grade of large load on the scraper conveyor, a third pre-set load grade of large load on the scraper conveyor, and a fourth pre-set load grade of large load on the scraper conveyor, with the load-determining unit including at least one of the following: a first determining module, a second determining module, a third determining module, and a fourth determining module. The first determining module is used to determine the load grade of the scraper conveyor as the first pre-set load grade when the large coal piece grade is the first pre-set grade of large coal pieces and the coal flow rate per unit time is less than a first coal flow rate threshold. The second determining module is used to determine the load grade of the scraper conveyor as the first pre-set load grade when the large coal piece grade is the second pre-set grade of large coal pieces and the coal flow rate per unit time is less than a first coal flow rate threshold. When the coal flow rate is greater than or equal to the first coal flow rate threshold and the coal flow rate per unit time is less than the second coal flow rate threshold, the load level of the scraper conveyor is determined to be the second preset load level, and the second coal flow rate threshold is greater than the first coal flow rate threshold; the third determining module is used to determine the load level of the scraper conveyor to be the third preset load level when the lump coal grade is the third preset lump coal grade, the coal flow rate per unit time is greater than or equal to the second coal flow rate threshold, and the coal flow rate per unit time is less than the third coal flow rate threshold; the fourth determining module is used to determine the load level of the scraper conveyor to be the fourth preset load level when the lump coal grade is the fourth preset lump coal grade, and the coal flow rate per unit time is greater than or equal to the third coal flow rate threshold.

[0075] In some embodiments of this application, the plurality of load preset levels are respectively a first load preset level, a second load preset level, a third load preset level, and a fourth load preset level, with the load degree of the scraper conveyor increasing sequentially. The second processing unit includes a first processing module, a second processing module, a third processing module, and a fourth processing module. The first processing module is used to adjust the conveying speed of the scraper conveyor to a first preset conveying speed when the load level of the scraper conveyor is determined to be the first load preset level. The second processing module is used to adjust the conveying speed of the scraper conveyor to a first preset conveying speed when the load level of the scraper conveyor is determined to be the second load preset level. The scraper conveyor's transport speed is adjusted to a second preset transport speed, which is greater than the first preset transport speed. A third processing module, when determining that the load level of the scraper conveyor is a third preset load level, adjusts the scraper conveyor's transport speed to a third preset transport speed, which is greater than the second preset transport speed. A fourth processing module, when determining that the load level of the scraper conveyor is a fourth preset load level, adjusts the scraper conveyor's transport speed to a fourth preset transport speed, which is greater than the third preset transport speed.

[0076] In some embodiments of this application, the device further includes a first generating unit. After determining that the load level of the scraper conveyor is the third preset load level, the first generating unit generates a first alarm message to remind the staff to stop the scraper conveyor.

[0077] In some embodiments of this application, the device further includes a third processing unit, a fourth processing unit, and a fifth processing unit. The third processing unit is used to determine whether, within a preset time, a coal block corresponding to the aforementioned large coal block grade has passed by a 3D camera adjacent to the 3D camera that transmits the three-dimensional coal flow point cloud data, when the aforementioned large coal block grade is the aforementioned third large coal block preset grade or the aforementioned fourth large coal block preset grade. The fourth processing unit is used to determine that the coal flow state is normal if, within a preset time, a coal block corresponding to the aforementioned large coal block grade has passed by a 3D camera adjacent to the 3D camera that transmits the aforementioned three-dimensional coal flow point cloud data. The fifth processing unit is used to determine that the coal flow state is abnormal if, within a preset time, a coal block corresponding to the aforementioned large coal block grade has not passed by a 3D camera adjacent to the 3D camera that transmits the aforementioned three-dimensional coal flow point cloud data. The abnormal state is used to characterize that the coal block has rolled, fallen, or become stuck.

[0078] In some embodiments of this application, the device further includes a second generating unit. After determining that the coal flow state is abnormal, the second generating unit generates a second alarm message to remind the staff that the coal block corresponding to the above-mentioned large coal block grade has rolled, fallen, or jammed.

[0079] In some embodiments of this application, the receiving unit includes a receiving module, which is used to receive the three-dimensional coal flow point cloud data sent by the 3D camera via a 5G network.

[0080] The aforementioned coal flow control device includes a processor and a memory. The receiving unit, the first processing unit, the determining unit, and the second processing unit are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; alternatively, the modules may be located in different processors in any combination.

[0081] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured; adjusting kernel parameters can address the low accuracy of existing coal flow monitoring methods.

[0082] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0083] This invention provides a computer-readable storage medium including a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to execute the coal flow control method.

[0084] This invention provides a processor for running a program, wherein the program executes the coal flow control method.

[0085] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: receiving three-dimensional coal flow point cloud data sent by a 3D camera, and processing the three-dimensional coal flow point cloud data based on three-dimensional spatial reconstruction technology to obtain coal flow spatial data. The three-dimensional coal flow point cloud data is the three-dimensional point cloud data of the coal flow collected by the 3D camera at the current moment, and the coal flow spatial data is the 3D stereoscopic data of the coal flow at the current moment; performing integration processing on the coal flow spatial data in the time domain to obtain the coal flow rate per unit time, and processing the coal flow spatial data using a large coal identification model to obtain the large coal grade. The coal flow rate per unit time is the coal flow rate per unit time. The flow rate within a given time period, where the aforementioned large coal lump grade is one of several preset large coal lump grades, is used to characterize the size of the large coal lump. The aforementioned large coal lump identification model is trained using multiple sets of training data. Each set of training data includes: the aforementioned coal flow spatial data and the aforementioned preset large coal lump grade corresponding to the aforementioned coal flow spatial data, acquired within a historical time period; based on the aforementioned large coal lump grade and the coal flow range within which the coal flow rate per unit time is located, the load level of the aforementioned scraper conveyor is determined. The aforementioned load level is one of several preset load levels, and the preset load level is used to characterize the load degree of the aforementioned scraper conveyor; based on the aforementioned load level, the transport speed of the aforementioned scraper conveyor is adjusted to the speed corresponding to the aforementioned load level. The equipment in this article can be a server, PC, PAD, mobile phone, etc.

[0086] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: receiving three-dimensional coal flow point cloud data sent by the 3D camera, and processing the three-dimensional coal flow point cloud data based on three-dimensional spatial reconstruction technology to obtain coal flow spatial data, wherein the three-dimensional coal flow point cloud data is the three-dimensional point cloud data of the coal flow collected by the 3D camera at the current moment, and the coal flow spatial data is the 3D stereoscopic data of the coal flow at the current moment; performing integration processing on the coal flow spatial data in the time domain to obtain the coal flow rate per unit time, and processing the coal flow spatial data using a large coal identification model to obtain the large coal grade, wherein the coal flow rate per unit time is the flow rate of the coal block per unit time. The aforementioned large coal lump grade is one of several preset large coal lump grades, which characterize the size of the large coal lump. The large coal lump identification model is trained using multiple sets of training data. Each set of training data includes: the aforementioned coal flow spatial data and the aforementioned preset large coal lump grade corresponding to the aforementioned coal flow spatial data, acquired within a historical time period. Based on the aforementioned large coal lump grade and the coal flow interval within which the coal flow per unit time is located, the load level of the aforementioned scraper conveyor is determined. The aforementioned load level is one of several preset load levels, which characterize the load degree of the aforementioned scraper conveyor. Based on the aforementioned load level, the conveying speed of the aforementioned scraper conveyor is adjusted to the speed corresponding to the aforementioned load level.

[0087] This application also provides a coal flow monitoring system, which includes a controller, multiple 3D cameras, and a scraper conveyor. The scraper conveyor and the multiple 3D cameras are electrically connected to the controller. The multiple 3D cameras are arranged equidistantly above the scraper conveyor along the direction in which the coal blocks are transported. The controller is used to execute any of the aforementioned coal flow control methods. By using spatial data of the coal flow, the size grade of large coal blocks and the coal flow rate per unit time are determined. Based on the size grade of large coal blocks and the coal flow rate per unit time, the load level of the scraper conveyor is simultaneously determined. Finally, the conveying speed of the scraper conveyor is adjusted according to the load level, thereby improving the accuracy of coal flow monitoring and solving the problem of low accuracy in existing coal flow monitoring solutions.

[0088] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0089] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0090] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0091] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0093] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0094] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0095] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0096] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0097] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0098] 1) The coal flow control method of this application determines the size grade of large coal pieces and the coal flow rate per unit time by using coal flow spatial data. Based on the size grade of large coal pieces and the coal flow rate per unit time, the load level of the scraper conveyor is determined simultaneously. Finally, the conveying speed of the scraper conveyor is adjusted according to the load level, thereby improving the accuracy of coal flow monitoring and solving the problem of low accuracy of existing coal flow monitoring methods.

[0099] 2) The coal flow control device of this application determines the size grade of large coal pieces and the coal flow rate per unit time by using coal flow spatial data. Based on the size grade of large coal pieces and the coal flow rate per unit time, the load level of the scraper conveyor is determined simultaneously. Finally, the conveying speed of the scraper conveyor is adjusted according to the load level, thereby improving the accuracy of coal flow monitoring and solving the problem of low accuracy in existing coal flow monitoring schemes.

[0100] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling a coal flow, applied to a controller in a coal flow monitoring system, the coal flow monitoring system further comprising a plurality of 3D cameras and a scraper conveyor, the scraper conveyor and the plurality of 3D cameras being in communication with the controller, the plurality of 3D cameras being arranged above the scraper conveyor in a sequence of equidistance and along a direction of transporting coal blocks by the scraper conveyor, characterized in that, The method comprises the following steps: receiving three-dimensional coal flow point cloud data sent by the 3D camera, and processing the three-dimensional coal flow point cloud data based on three-dimensional space reconstruction technology to obtain coal flow space data, the three-dimensional coal flow point cloud data being three-dimensional point cloud data of the coal flow collected by the 3D camera at the current time, and the coal flow space data being 3D stereoscopic data of the coal flow at the current time; integrating the coal flow space data in the time domain to obtain unit time coal flow, and processing the coal flow space data by using a large lump coal identification model to obtain a large lump coal grade, the unit time coal flow being the flow of the coal lump in unit time, and the large lump coal grade being one of a plurality of large lump coal preset grades, the large lump coal preset grades being used to represent the size of the large lump coal, and the large lump coal identification model being obtained by training a plurality of sets of training data, each set of training data in the plurality of sets of training data comprising the coal flow space data and the large lump coal preset grade corresponding to the coal flow space data obtained in a historical time period; determining a load grade of the scraper conveyor according to the coal flow interval in which the large lump coal grade and the unit time coal flow are located, the load grade being one of a plurality of load preset grades, and the load preset grades being used to represent the load degree of the scraper conveyor; adjusting the transportation speed of the scraper conveyor to a speed corresponding to the load grade according to the load grade.

2. The coal flow control method according to claim 1, characterized by, The plurality of large lump coal preset grades are a first large lump coal preset grade, a second large lump coal preset grade, a third large lump coal preset grade and a fourth large lump coal preset grade, and the size of the large lump coal increases in sequence, the plurality of load preset grades are a first load preset grade, a second load preset grade, a third load preset grade and a fourth load preset grade, and the load degree of the scraper conveyor increases in sequence, and the determination of the load grade of the scraper conveyor according to the coal flow interval in which the large lump coal grade and the unit time coal flow are located comprises at least one of the following: in the case that the large lump coal grade is the first large lump coal preset grade and the unit time coal flow is less than a first coal flow threshold, the load grade of the scraper conveyor is determined to be the first load preset grade; in the case that the large lump coal grade is the second large lump coal preset grade, the unit time coal flow is greater than or equal to the first coal flow threshold, and the unit time coal flow is less than a second coal flow threshold, the load grade of the scraper conveyor is determined to be the second load preset grade, and the second coal flow threshold is greater than the first coal flow threshold; in the case that the large lump coal grade is the third large lump coal preset grade, the unit time coal flow is greater than or equal to the second coal flow threshold, and the unit time coal flow is less than a third coal flow threshold, the load grade of the scraper conveyor is determined to be the third load preset grade, and the third coal flow threshold is greater than the second coal flow threshold; In a case where the lump coal level is the fourth lump coal preset level and the unit time coal flow is greater than or equal to the third coal flow threshold, it is determined that the load level of the scraper conveyor is the fourth load preset level.

3. The coal flow control method according to claim 1, characterized by, The plurality of load preset levels are a first load preset level, a second load preset level, a third load preset level, and a fourth load preset level, which are sequentially increased in the load degree of the scraper conveyor. According to the load level, the conveying speed of the scraper conveyor is adjusted to a speed corresponding to the load level, comprising: In a case where it is determined that the load level of the scraper conveyor is the first load preset level, the conveying speed of the scraper conveyor is adjusted to a first preset conveying speed; In a case where it is determined that the load level of the scraper conveyor is the second load preset level, the conveying speed of the scraper conveyor is adjusted to a second preset conveying speed, which is greater than the first preset conveying speed; In a case where it is determined that the load level of the scraper conveyor is the third load preset level, the conveying speed of the scraper conveyor is adjusted to a third preset conveying speed, which is greater than the second preset conveying speed; In a case where it is determined that the load level of the scraper conveyor is the fourth load preset level, the conveying speed of the scraper conveyor is adjusted to a fourth preset conveying speed, which is greater than the third preset conveying speed.

4. The coal flow control method according to claim 3, characterized by, After determining that the load level of the scraper conveyor is the third load preset level, the method further comprises: Generating first alarm information, the first alarm information is used to remind the worker to control the scraper conveyor to stop.

5. The coal flow control method according to claim 2, wherein The method further comprises: In a case where the lump coal level is the third lump coal preset level or the fourth lump coal preset level, it is determined whether the coal blocks corresponding to the lump coal level pass through the 3D camera adjacent to the 3D camera sending the three-dimensional coal flow point cloud data within a preset time; In a case where the coal blocks corresponding to the lump coal level pass through the 3D camera adjacent to the 3D camera sending the three-dimensional coal flow point cloud data within a preset time, it is determined that the coal flow state is a normal state; In a case where the coal blocks corresponding to the lump coal level do not pass through the 3D camera adjacent to the 3D camera sending the three-dimensional coal flow point cloud data within a preset time, it is determined that the coal flow state is an abnormal state, and the abnormal state is used to represent that the coal blocks roll, or fall, or jam.

6. The coal flow control method according to claim 5, characterized by, After determining that the coal flow state is an abnormal state, the method further comprises: Generating second alarm information, the second alarm information is used to remind the worker that the coal blocks corresponding to the lump coal level have rolled, or fallen, or jammed.

7. The method of controlling a flow of coal according to any one of claims 1 to 6, characterized in that, Receiving three-dimensional coal flow point cloud data sent by the 3D camera, comprising: Receiving the three-dimensional coal flow point cloud data sent by the 3D camera through a 5G network.

8. A coal flow control device characterized by comprising: Comprising: The receiving unit is configured to receive three-dimensional coal flow point cloud data transmitted by a 3D camera, and process the three-dimensional coal flow point cloud data based on a three-dimensional space reconstruction technology to obtain coal flow space data, wherein the three-dimensional coal flow point cloud data is three-dimensional point cloud data of a coal flow collected by the 3D camera at a current time, and the coal flow space data is 3D stereoscopic data of the coal flow at the current time. The first processing unit is configured to perform integral processing on the coal flow space data in a time domain to obtain a unit time coal flow rate, and process the coal flow space data by using a large lump coal identification model to obtain a large lump coal grade, wherein the unit time coal flow rate is a flow rate of a coal lump in a unit time, the large lump coal grade is one of a plurality of preset large lump coal grades, the preset large lump coal grades are used to represent a size degree of the large lump coal, and the large lump coal identification model is obtained by training a plurality of sets of training data, and each set of training data in the plurality of sets of training data includes the coal flow space data and the preset large lump coal grade corresponding to the coal flow space data obtained in a historical time period. The determining unit is configured to determine a load grade of the scraper conveyor according to the large lump coal grade and a coal flow rate interval in which the unit time coal flow rate is located, wherein the load grade is one of a plurality of preset load grades, and the preset load grades are used to represent a load degree of the scraper conveyor. The second processing unit is configured to adjust a transportation speed of the scraper conveyor to a speed corresponding to the load grade according to the load grade.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium includes a stored program, wherein the program controls a device in which the computer readable storage medium is located to perform the coal flow control method in any one of claims 1 to 7 when the program is executed.

10. A coal flow monitoring system characterized by, The device includes a controller, a plurality of 3D cameras, and a scraper conveyor, the scraper conveyor and the plurality of 3D cameras are electrically connected to the controller, the plurality of 3D cameras are arranged above the scraper conveyor in a direction in which the scraper conveyor transports coal lumps, and the controller is configured to perform the coal flow control method in any one of claims 1 to 7. ​

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